基于旋转激光雷达的3D SLAM 实现
3D SLAM method based on rotatable 2D laser scanner
构建高精度的3D地图是提高移动机器人定位精度的重要方法。本文提出了一种使用旋转二维激光器采集机器人前方环境三维点云，使用经典的ICP算法实现3D SLAM的方法.相关的实验在Webots机器人仿真软件中进行验证。Webots仿真环境模拟了一个小型的变电站和挂载可旋转激光器的Pioneer3-DX机器人。实验结果表明这种方法可以有效地校正里程计的误差，实现机器人的精确定位；同时构建的三维地图也具有非常高的精确度，并能够保留物理环境的各种细节。
onstructing a high-accuracy 3-D map is a key point for improving the precision of mobile robot localization. This paper describes a method that acqures 3D point cloud ahead of the mobile robot by rotating the 2D laser scanner. ICP algorithm is used to realize SLAM(Simultaneous Localization and Mapping). In the Webots we built a small transformer substation's outdoor scene and a Pioneer3-DX mobile robot mounted with a rotatable 2D laser scanner. Our experiments demonstrate that this method effectively correct the errors of the odometer and realize precise localization of mobile robot. The resulting 3D maps are of high precision and preserves all kind of details.
张伟、瞿晨非、樊承柱、赵淑强、宫世杰
自动化技术、自动化技术设备计算技术、计算机技术遥感技术
机器人控制3D SLAM激光器ICP 算法点云匹配三维地图
robot control3D SLAMlaser scannerICPpoint cloud matching3D map
张伟,瞿晨非,樊承柱,赵淑强,宫世杰.基于旋转激光雷达的3D SLAM 实现[EB/OL].(2015-08-27)[2025-08-02].http://www.paper.edu.cn/releasepaper/content/201508-149.点此复制
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